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Performance study of Reference Height Control Algorithm for Tripod Hopping Robot

Anuar , Mohamed Kassim and Abas, Norafizah and Mohd Aras, Mohd Shahrieel and Ab Rashid, Mohd Zamzuri (2013) Performance study of Reference Height Control Algorithm for Tripod Hopping Robot. International Review of Mechanical Engineering (I.RE.M.E.), 7 (5). pp. 784-789. ISSN 1970-8734

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Abstract

Central Pattern Generator(CPG) algorithm enables to produce rhythmic patterned outputs where this neural networks underlie the production of most rhythmic motor patterns. In this paper, the generation of vertical jumping motion for tripod hopping robot by applying the Central Pattern Generator networks with reference height control algorithm in order to achieve reference height for each leg of tripod hopping robot is discussed. The proposed algorithm is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller in the system of Central Pattern Generator (CPG). By using the proposed algorithm, the developed tripod hopping robot can achieve the reference height and maintain the hopping motion respectively. As the result, the effectiveness of proposed reference height control algorithm in order to achieve the reference height is confirmed.

Item Type: Article
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User: Mr Anuar Mohamed Kassim
Date Deposited: 18 Nov 2013 04:22
Last Modified: 28 May 2015 04:07
URI: http://eprints.utem.edu.my/id/eprint/9856

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